Multi-sensory human-simulated five-finger dexterous hand

A dexterous hand and five-fingered technology, applied in the field of multi-sensing human-like five-fingered dexterous hands, can solve problems such as poor perception ability and insufficient freedom of dexterous hands, and achieve the effects of low cost, simple structure and high degree of anthropomorphism

Active Publication Date: 2017-12-15
TSINGHUA UNIV
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  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

[0003] The purpose of the invention is to solve the problems of insu...

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  • Multi-sensory human-simulated five-finger dexterous hand
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  • Multi-sensory human-simulated five-finger dexterous hand

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Embodiment Construction

[0019] A kind of multi-sensory humanoid five-fingered dexterous hand proposed by the present invention is described in detail as follows in conjunction with the accompanying drawings and embodiments:

[0020] The overall structure of a multi-sensory humanoid five-finger dexterous hand proposed by the present invention is as follows: figure 1 As shown, including palm 2, thumb 3, index finger 4 and middle finger 5 with the same structure, ring finger 6 and little finger 7 with the same structure, and multiple sets of sensor units, a total of 20 degrees of freedom, including 13 active degrees of freedom, 7 3 passive degrees of freedom, each finger has 4 degrees of freedom, thumb 3, index finger 4 and middle finger 5 all have 3 active degrees of freedom and 1 passive degree of freedom, ring finger 6 and little finger 7 each have 2 active degrees of freedom and 2 passive degrees of freedom, each finger is provided with 4 joints, a total of 20 joints; a drive module 14 and a control...

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Abstract

The invention provides a multi-sensory human-simulated five-finger dexterous hand and belongs to the technical field of robots. The multi-sensory human-simulated five-finger dexterous hand is composed of a palm, a thumb, an index finger, a middle finger, a ring finger, a little finger and multiple sensors, wherein the index finger and the middle finger are of the same structure, and the ring finger and the little finger are of the same structure. The multi-sensory human-simulated five-finger dexterous hand has 20 degrees of freedom in total, and the 20 degrees of freedom include 13 active degrees of freedom and 7 passive degrees of freedom. Each finger is formed by connecting a basic-end joint, a basic-end knuckle, a near-end joint, a near-end knuckle, a middle-end joint, a middle-end knuckle, a far-end joint, a far-end knuckle and a finger tip in sequence. The basis ends of all the fingers are connected with a driving module located on the outer side of the palm through a plurality of tendons. The driving module transmits power to all the fingers in a rope meridian driving mode. A control system acquires signals of the sensors and conducts closed-loop control over the dexterous hand. The 31 sensors in total include arrayed tactile sensors and angular sensors located at the finger tips, the knuckles and the palm. The multi-sensory human-simulated five-finger dexterous hand has the advantages of being strong in sensory ability, high in human simulation degree and capable of completing grabbing tasks better.

Description

technical field [0001] The invention relates to a multi-sensory humanoid five-finger dexterous hand, which belongs to the technical field of robots. Background technique [0002] In the past ten years, the dexterous hand technology has developed rapidly, and the dexterous hand can complete tasks such as grasping and manipulation like a human hand. Dexterous hands can be used in hazardous environments such as space, toxic waste disposal, as well as in industry, prosthetics, surgery and other fields. Many scientific research institutions at home and abroad are conducting research on dexterous hands and have developed some representative dexterous hands. DLR / HIT II dexterous hand is a dexterous hand jointly developed by Harbin Institute of Technology and German Aerospace Center. The DLR / HIT II dexterous hand has 5 fingers with the same structure, and each finger has 3 joints and 3 degrees of freedom. Each finger of the DLR / HIT II dexterous hand module consists of a base join...

Claims

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Application Information

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IPC IPC(8): B25J15/10B25J19/02
CPCB25J15/0009B25J15/10B25J19/02
Inventor 方斌孙富春陈文丹刘华平张文亮黄铸栋
Owner TSINGHUA UNIV
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